diff --git a/src/dynamic_graph/sot/dynamics/humanoid_robot.py b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
index ed86846dedfacd1e44532e3985677de701a2c540..2a991fe7d5434ca46d9eb846bbb068c67407eeb1 100755
--- a/src/dynamic_graph/sot/dynamics/humanoid_robot.py
+++ b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
@@ -248,7 +248,7 @@ class AbstractHumanoidRobot (object):
         featureCom.selec.value = selec
         featureComDes = FeatureGeneric(featureDesName)
         featureComDes.errorIN.value = self.dynamic.com.value
-        featureCom.sdes.value = featureComDes
+        featureCom.setReference(featureComDes.name)
         comTask = TaskPD(taskName)
         comTask.add(featureName)
         comTask.controlGain.value = gain